Grain storage monitoring method, device and equipment based on detection radar and medium

Abstract

The application discloses a grain storage monitoring method, device and equipment based on a detection radar and a medium. The method comprises the following steps: vertically detecting the interior of a grain depot by using a radar array to obtain echo signals, pre-processing the echo signals and obtaining density distribution information, further analyzing and processing the signals to obtain spatial analysis information, aligning the density distribution information according to the spatial analysis information to obtain distribution alignment information, and calculating the distribution alignment information, the spatial analysis information and a preset warehouse size to obtain storage information. The grain storage monitoring method based on the detection radar can analyze and calculate the grain storage in the interior of the grain depot based on the echo signals of the detection radar, is particularly suitable for the storage monitoring application of a large-scale grain depot, and can greatly improve the efficiency and accuracy of the grain storage monitoring.

Description

Technical Field

[0001] This invention relates to the field of warehouse management technology, and in particular to a method, device, equipment and medium for monitoring grain storage based on detection radar. Background Technology

[0002] Large grain silos are used to store grains such as rice and corn. To obtain the amount of grain stored inside the silo, it is necessary to measure the mass of the stored grain. Current technologies typically involve directly measuring the dimensions of the silo and the grain itself, then calculating the corresponding mass based on volume. However, because grain is usually piled to a certain height inside the silo and stored for a period of time, its internal density changes due to its own weight and environmental variations. This leads to significant deviations in the mass calculated based on volume, affecting the accuracy of grain storage measurement. Therefore, existing methods cannot accurately and efficiently obtain the amount of grain stored in a grain silo. Summary of the Invention

[0003] This invention provides a method, apparatus, equipment, and medium for monitoring grain storage based on detection radar, aiming to solve the problem that existing methods cannot accurately and efficiently obtain the amount of grain stored in grain warehouses.

[0004] In a first aspect, embodiments of the present invention provide a grain storage monitoring method based on detection radar, wherein the method is applied to a monitoring terminal, the monitoring terminal establishes a communication connection with a radar array, the radar array being composed of multiple detection radars arranged in an array, and the method includes:

[0005] The echo signal obtained by the radar array during vertical detection is acquired. The echo signal is formed by the reflection of the grain after the detection signal is transmitted.

[0006] The echo signal is preprocessed according to the preset signal processing rules to obtain the corresponding processed signal;

[0007] The density distribution information corresponding to the processed signal is obtained according to the preset density calculation model;

[0008] The processed signal is spatially analyzed according to a preset spatial analysis rule to obtain the corresponding spatial analysis information;

[0009] The density distribution information is aligned based on the spatial resolution information to obtain the corresponding distribution alignment information;

[0010] The corresponding storage capacity information is obtained by calculating the distribution alignment information and the preset warehouse size based on the preset storage calculation model.

[0011] Secondly, embodiments of the present invention also provide a grain storage monitoring device based on a detection radar, wherein the device is configured on a monitoring terminal, the monitoring terminal establishes a communication connection with a radar array, the radar array is composed of multiple detection radars arranged in an array, and the device is used to execute the grain storage monitoring method based on a detection radar as described in the first aspect above, the device comprising:

[0012] The echo signal acquisition unit is used to acquire the echo signal obtained by the radar array during vertical detection. The echo signal is formed by the reflection of the grain after the detection signal is transmitted.

[0013] The signal acquisition unit is used to preprocess the echo signal according to the preset signal processing rules to obtain the corresponding processed signal;

[0014] A density distribution information acquisition unit is used to acquire density distribution information corresponding to the processed signal according to a preset density calculation model.

[0015] The spatial resolution information acquisition unit is used to perform spatial resolution on the processed signal according to a preset spatial resolution rule to obtain the corresponding spatial resolution information.

[0016] The distribution alignment information acquisition unit is used to align the density distribution information according to the spatial resolution information to obtain the corresponding distribution alignment information;

[0017] The storage quantity information acquisition unit is used to calculate the distribution alignment information and the preset warehouse size according to the preset storage calculation model to obtain the corresponding storage quantity information.

[0018] Thirdly, embodiments of the present invention also provide a computer device, wherein the device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0019] Memory, used to store computer programs;

[0020] When the processor executes the program stored in the memory, it implements the steps of the grain storage monitoring method based on detection radar described in the first aspect above.

[0021] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the grain storage monitoring method based on detection radar as described in the first aspect above.

[0022] This invention provides a method, apparatus, equipment, and medium for monitoring grain storage based on radar detection. The method includes: vertically probing the interior of a grain silo using a radar array to obtain echo signals; preprocessing the echo signals to acquire density distribution information; further analyzing and processing the signals to obtain spatial resolution information; aligning the density distribution information based on the spatial resolution information to obtain distribution alignment information; and calculating the storage capacity information based on the distribution alignment information, spatial resolution information, and a preset warehouse size. This radar-based grain storage monitoring method can calculate the grain storage capacity inside a grain silo based on the echo signals from the radar detection array. It is particularly suitable for monitoring large grain silos and can significantly improve the efficiency and accuracy of grain storage monitoring. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A flowchart illustrating the grain storage monitoring method based on detection radar provided in this embodiment of the invention;

[0025] Figure 2 A schematic diagram illustrating an application scenario of the grain storage monitoring method based on detection radar provided in this embodiment of the invention;

[0026] Figure 3 The image shows the application effect of the grain storage monitoring method based on detection radar provided in the embodiment of the present invention.

[0027] Figure 4 Another application effect diagram of the grain storage monitoring method based on detection radar provided in the embodiment of the present invention;

[0028] Figure 5 A schematic block diagram of a grain storage monitoring device based on detection radar provided in an embodiment of the present invention;

[0029] Figure 6 This is a schematic block diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0032] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0033] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0034] This invention application provides a method for monitoring grain storage based on detection radar. This method is applied in a monitoring terminal, which executes a stored software program to implement the aforementioned method for monitoring grain storage based on detection radar. Figure 2 As shown, the monitoring terminal 10 can be a monitor or server configured within a grain storage enterprise or institution. The monitoring terminal 10 establishes a communication connection with the radar array 20, which consists of multiple detection radars arranged in an array. In practical applications, the radar array 20 can be installed on the top of the grain silo. The specific installation structure of the radar array 20 is as follows. Figure 3 As shown, radar array 20 can detect objects below, thus achieving vertical detection of the grain silo's interior. Radar array 20 acquires echo signals and sends them to monitoring terminal 10. Monitoring terminal 10 analyzes and calculates the echo signals to obtain the corresponding storage volume information, which represents the current storage quality of grain inside the silo. Monitoring terminal 10 can be configured with a display screen to display the acquired storage volume information for management personnel to view. Simultaneously, monitoring terminal 10 can establish network connections with radar arrays 20 configured in multiple grain silos, enabling simultaneous monitoring of multiple grain silos.

[0035] like Figure 1 As shown, the method includes steps S110 to S160.

[0036] S110. Obtain the echo signal obtained by the radar array performing vertical detection. The echo signal is formed by the reflection of the grain after the detection signal is transmitted.

[0037] The detection radars in the radar array can emit detection signals. Each detection radar independently and simultaneously emits a detection signal downwards, and the detection radar can receive the echo signal generated by the reflection of the detection signal. The detection radars in the radar array are arranged in the same horizontal plane. In specific applications, low-frequency detection radars with strong penetration capabilities can be selected, such as detection radars with frequencies in the 200MHz-500MHz band. Detection radars in this frequency band can effectively penetrate grain piles in warehouses and are less affected by complex environmental factors in warehouses (such as dust, temperature and humidity changes, etc.), which can improve the efficiency and accuracy of signal acquisition. The spacing between adjacent radars can be set to 3-6 meters to ensure dense coverage of the grain warehouse plane. Because precise detection is required, the sampling frequency of the detection radar needs to be set relatively high to obtain echo signals in the nanosecond time dimension, such as setting the sampling frequency of the detection radar for echo signals to 0.5-5GHz.

[0038] Specifically, the sampling period for acquiring echo signals through a radar array can be set to 10-30 seconds. A scan is performed every such sampling period, and the specific acquisition interval can be adjusted according to monitoring requirements. In practical applications, multiple echo signals can be acquired, and a storage quantity information is obtained based on each echo signal. After excluding abnormal offset values ​​in the storage quantity information, the average value of the remaining storage quantity information is calculated to obtain the final target storage quantity information. If ten sets of echo signals are repeatedly acquired, the storage quantity information for each echo signal is obtained, and the average value and standard deviation are calculated. The difference between the average value and the standard deviation is determined as the lower limit of the interval, and the sum of the average value and the standard deviation is determined as the upper limit of the interval. The storage quantity information between the lower and upper limits of the interval (excluding abnormal offset values ​​outside the interval) is obtained, and the average value of the remaining storage quantity information is further calculated as the final target storage quantity information.

[0039] S120. The echo signal is preprocessed according to the preset signal processing rules to obtain the corresponding processed signal.

[0040] Furthermore, the echo signal is preprocessed according to the signal processing rules. The echo signal contains interference signals. In order to obtain a more accurate storage quantity, the interference information in the echo signal can be removed through preprocessing.

[0041] In a specific embodiment, step S120 includes the following sub-steps: performing noise reduction processing on the echo signal according to the noise reduction function in the signal processing rules to obtain a corresponding noise-reduced signal; and performing signal enhancement on the noise-reduced signal according to the signal enhancement function in the signal processing rules to obtain a corresponding processed signal.

[0042] For example, the echo signal collected by a certain detection radar, such as Figure 4 As shown, the echo signal can be denoised using a denoising function. Specifically, the denoising function can be used to calculate the signal scattering intensity corresponding to the radar array arrangement information. The denoising function can be used to calculate the signal scattering intensity corresponding to each detection radar. The echo signal of each detection radar can be denoised using this signal scattering intensity to obtain a denoised signal. When a detection radar transmits a detection signal, during the process of the detection radar receiving the echo signal generated by the detection signal, the detection signals generated by other surrounding detection radars are scattered to a certain extent and received by the current detection radar. This part of the heat dissipation signal is an interference signal and needs to be eliminated accordingly. The denoising function can be expressed by formula (1):

[0043]

[0044] Among them, S i Let P0 be the signal scattering intensity received by the current detection radar from the i-th detection radar, r be the scattering coefficient, P0 be the signal strength of the detection signal, λ be the wavelength of the detection signal, π be pi, and d be the wavelength of the circumference of the circle. i Let S be the straight-line distance between the current detection radar and the i-th detection radar. Then the intensity received by the current detection radar is S. i The time point of the signal is d i / c, where c is the speed of light. Then, in... Figure 4 The time point shown in the waveform graph is d. i The time / c minus the intensity S i If the total number of detection radars is N, then in this process, it is necessary to sequentially obtain the signal scattering intensity between the current detection radar and N-1 other detection radars, and repeatedly subtract the corresponding N-1 signal scattering intensities from the waveform of the current detection radar. By using the above method, the signal scattering intensities of other detection radars can be subtracted from the waveform of the current detection radar in turn to obtain the noise-reduced signal.

[0045] Furthermore, the denoised signal can be enhanced using a signal enhancement function to obtain the corresponding processed signal. The signal enhancement function can be a wavelet transform-based function, which performs a wavelet transform on the denoised signal. Depending on the type of grain in the granary, a suitable wavelet basis function (such as the Daubechies wavelet) can be selected to perform multi-level wavelet decomposition on the denoised signal, obtaining coefficients for different frequency sub-bands. Feature coefficients are then selected to amplify those that reflect the characteristics of the effective signal. Noise-related coefficients are thresholded using soft or hard thresholds. Finally, the signal is reconstructed through inverse wavelet transform, achieving signal enhancement and obtaining the processed signal corresponding to the denoised signal. The resulting processed signal highlights the reflection signal characteristics associated with specific types of grain accumulation.

[0046] S130. Obtain the density distribution information corresponding to the processed signal according to the preset density calculation model.

[0047] The density of the processed signal is further calculated using a density calculation model to obtain the density distribution information corresponding to the processed signal. The core principle of this processing step is that the intensity of electromagnetic wave signal reflection at the interface of media with different dielectric constants follows Fresnel's law of reflection. When the electromagnetic wave signal passes through the interface of a material with a change in dielectric constant due to the change in material density, the reflection intensity will change. That is, the interface of different dielectric constants formed by different density regions inside the grain piled in the granary will cause the signal intensity reflected back to the radar antenna to change. By analyzing the change in signal reflection intensity using the density calculation model, the density distribution of the grain can be obtained.

[0048] In a specific embodiment, step S130 includes the following sub-steps: performing propagation analysis on the signals of each detection radar in the processed signal according to the signal propagation parameters in the density calculation model to obtain corresponding range analysis information; performing density calculation on the signals of each detection radar according to the density calculation function in the density calculation model and the range analysis information to obtain corresponding density distribution information, wherein the density distribution information includes the density value of each detection radar in the vertical direction.

[0049] Specifically, the signal propagation parameters corresponding to the current grain type (e.g., rice) and storage duration (e.g., stored for 5 months) in the density calculation model are obtained. These matching signal propagation parameters are then used to analyze the propagation of signals from various detection radars within the processed signal. The grain silo is used to store a single type of grain; however, different types and storage durations of grain exhibit subtle differences in electromagnetic wave propagation. Therefore, the difference in signal propagation parameters between different grains lies in the difference in the propagation speed of electromagnetic waves within the grain. For example, the propagation speed of electromagnetic waves within grain is between 0.09 and 0.3 m / ns (unit: meters per nanosecond), such as the propagation speed of electromagnetic waves in rice being c.m = 1.75m / ns (1.75×10 8 m / s), the speed at which electromagnetic waves propagate through air is c = 3 × 10 8 m / s.

[0050] The signals from each detection radar in the processed signal are analyzed by obtaining the signal propagation parameters. The initial judgment time point is calculated based on the internal air height h (the vertical distance between the installation position of the detection radar and the bottom of the warehouse) and the air propagation speed of electromagnetic wave signals c. The initial judgment time point is h / c. The signal amplitude of each moment after h / c in the detection radar signal is compared, and the moment corresponding to the signal with the largest amplitude is taken as the cutoff time point.

[0051] Furthermore, based on the density calculation function in the density calculation model and the range analysis information obtained in the above steps, the density of the signals of each detection radar is calculated to obtain the corresponding density distribution information, which includes the density value of each detection radar in the vertical direction.

[0052] The density calculation function can be expressed using formula (2):

[0053]

[0054] Where, ρ x Let P be the density value at time x, a and b be the model parameters set in the formula, and P be the density value at time x. x To process the signal strength of a certain detection radar at time x, where k is the attenuation compensation coefficient (k>1), L x Let L be the distance coefficient at time x. Before practical application, experimental tests can be conducted to determine the model parameters corresponding to different types and storage durations of grain. The matching model parameters for specific types and storage durations of grain can be configured and solved in the above formula (2). Among them, the distance coefficient L x The corresponding calculation is obtained according to formula (3).

[0055]

[0056] Where h is the internal height, c m Let tx be the speed at which the grain propagates the electromagnetic wave signal, tx be the time parameter at time x, and tj be the cutoff time.

[0057] Since each detection radar is dedicated to detecting the density of grain below, the density values ​​of each detection radar in the vertical direction can be obtained through the above steps. By combining the density values ​​of each detection radar, density distribution information that reflects the three-dimensional spatial density distribution of grain can be obtained.

[0058] S140. Perform spatial analysis on the processed signal according to the preset spatial analysis rules to obtain the corresponding spatial analysis information.

[0059] The processed signal is spatially analyzed according to the spatial analysis rules to obtain the corresponding spatial analysis information, which is then used to reflect the spatial location characteristics of the signal to be detected.

[0060] In a specific embodiment, step S140 includes the following sub-steps: analyzing the signals of each detection radar in the processed signal according to the injection parameters and bottoming parameters in the spatial analysis rules to obtain the spatial start point and spatial end point corresponding to each detection radar; and combining the spatial start point and spatial end point of each detection radar to obtain the spatial analysis information.

[0061] Specifically, the injection parameters and contact parameters in the spatial analysis rules can be obtained. These parameters determine the spatial start and end points, allowing each detection radar signal to be assigned a corresponding spatial start and end point. The injection parameters include the injection amplitude threshold and the injection slope threshold. When an electromagnetic wave signal enters the grain from the air, a strong reflection signal is generated across the medium. After the electromagnetic wave signal passes through the air-grain contact surface and propagates into the grain, the reflection signal decreases sharply. At this point, the signal amplitude in the detection radar signal can be judged using the injection amplitude threshold and the injection slope threshold. If the signal strength of the detection radar signal at a certain moment is greater than the injection amplitude threshold, and the slope of the signal curve between that moment and the next moment is less than the injection slope threshold, then the next moment corresponding to that moment is determined as the incident time point (e.g., ...). Figure 4 The time t1 in the equation is the incident time point. The bottoming parameters include the bottoming amplitude threshold and the bottoming slope threshold. When an electromagnetic wave signal passes through the grain and contacts the bottom of the warehouse, it will also generate a strong reflected signal, and the intensity of the reflected signal will increase sharply. At this time, the signal after the incident time point can be judged. The slope of the signal curve between a certain time and the next time point can be judged to see if it is greater than the bottoming slope threshold. If the slope of the signal curve between a certain time and the next time point is greater than the bottoming slope threshold, and the signal intensity at the next time point is greater than the bottoming amplitude threshold, then that time point can be taken as the rebound time point (e.g., ...). Figure 4 The time t2 in the equation is the rebound time point.

[0062] After obtaining the incident time point and the rebound time point, the cavity distance d between the top of the grain and the detection radar can be obtained based on the incident time point and the propagation speed c. k The distance value is c×t1, based on the cavity distance d. kThe spatial starting point corresponding to the signal from the detection radar can be determined; based on the time interval between the incident time point and the rebound time point, and the propagation speed c inside the grain... m This gives the storage distance d between the top of the grain and the bottom of the grain silo. p The distance value is c m ×Δt, where Δt=t2-t1, based on the cavity distance d k and storage distance d p It can determine the spatial termination point corresponding to the signal of the detection radar.

[0063] The spatial start point and spatial end point corresponding to the signal of each detection radar can be obtained by the above method. By combining the spatial start point and spatial end point of each detection radar, the spatial analysis information corresponding to the processed signal can be obtained.

[0064] S150. Align the density distribution information according to the spatial resolution information to obtain the corresponding distribution alignment information.

[0065] Furthermore, the density distribution information is aligned based on the spatial resolution information to obtain the distribution alignment information.

[0066] In a specific embodiment, step S150 includes the following sub-steps: extracting the density distribution values ​​of each detection radar in the density distribution information based on the spatial start point and spatial end point in the spatial analysis information to obtain the effective density distribution corresponding to each detection radar; aligning the effective density distribution with the spatial end point of each detection radar to obtain the corresponding distribution alignment information.

[0067] The density distribution information includes density distribution values ​​detected by the radar over non-grain areas. Each density distribution value from the radar corresponds to a spatial distance value; for example, the spatial distance value corresponding to the density distribution value at time tx is c×t1+c. m ×(tx-t1). Based on the spatial start and end points of each detection radar in the spatial analysis information, the density distribution value of that detection radar in the vertical direction is truncated. That is, the density distribution value between the spatial start and end points is obtained as the effective density value. The effective density value of the detection radar is then taken as the corresponding effective density distribution. The interval for truncating the effective density value can be expressed as [d...]. q d z ], where d q d is the spatial starting point. z [ ] represents the spatial termination point, and [ ] represents the interval symbol containing both the start and end points of the interval. The effective density distribution of each detection radar can be obtained using the above method.

[0068] The effective density distribution is aligned based on the spatial termination points of the detection radars. That is, the spatial termination points of each detection radar are used as alignment points, and the effective density values ​​of each detection radar are arranged in reverse order according to the spatial distance values ​​of each effective density value in the effective density distribution, thereby aligning the effective density distribution and obtaining distribution alignment information.

[0069] S160. Calculate the distribution alignment information and the preset warehouse size according to the preset warehouse calculation model to obtain the corresponding storage quantity information.

[0070] The monitoring terminal has pre-stored warehouse dimensions, including the floor area and internal height of the grain silo. Based on the pre-set storage calculation model, the distribution alignment information and warehouse dimensions are calculated to obtain the corresponding storage volume information.

[0071] In a specific embodiment, step S160 includes the following sub-steps: determining the corresponding vertical distance of the warehouse based on the distribution alignment information; performing layered calculations on the distribution alignment information to obtain the corresponding vertical density curve; and performing integral calculations on the vertical distance of the warehouse, the vertical density curve, and the warehouse size based on the warehouse calculation model to obtain the corresponding integral value, which is used as the storage quantity information.

[0072] First, the corresponding vertical distance of the warehouse is determined based on the distribution alignment information. The vertical distance of the warehouse is the distance between the starting distribution point and the alignment point in the distribution alignment information. The starting distribution point is also the point in the distribution alignment information that has the maximum effective density value with respect to the alignment point.

[0073] Furthermore, the distribution alignment information is layered and calculated to obtain the corresponding vertical density curve. Since the distribution alignment information contains multiple effective density values ​​with the same vertical distance, these multiple effective density values ​​with the same vertical distance are located in the same layer. The average density value is obtained by averaging the multiple effective density values ​​with the same vertical distance in the distribution alignment information. Thus, multiple average density values ​​in the vertical direction can be obtained through the distribution alignment information. The distribution of this average density value in the vertical direction corresponds to the vertical distance of the storage. The vertical density curve is obtained by connecting the average density values ​​according to their vertical height.

[0074] The vertical distance, vertical density curve, and warehouse dimensions are integrated according to the integral formula in the storage calculation model to obtain the corresponding integral value, which can be used as storage quantity information. The integral formula can be expressed by formula (4):

[0075]

[0076] Where, W is the calculated integral value, H c is the vertical storage distance (H c <h). Assuming that the distance value of the starting distribution point in the distribution alignment information is 0, then the distance value of the alignment point in the distribution alignment information is also the vertical storage distance. j is the distance value of a certain point in the vertical storage distance, and j ∈ [0, H c ; S is the bottom area of the granary (assuming the granary is a columnar structure, the plane areas at different heights are equal), and f ρ (j) is the vertical density curve (the density changes with the vertical distance j).

[0077] If the granary is a non-columnar configuration such as a conical structure, a curve formula corresponding to the bottom area and the vertical storage distance can be introduced accordingly. For example, if the granary is conical, the corresponding integral calculation formula can be expressed by formula (5):

[0078]

[0079] Where, W’ is another calculated integral value, R is the bottom radius of the conical granary, and h is the internal height of the conical granary.

[0080] In a specific embodiment, before performing the integral calculation on the vertical storage distance, the vertical density curve, and the warehouse size according to the storage calculation model to obtain the corresponding integral value, it further includes: obtaining the corresponding flatness information according to the distribution alignment information; if the flatness information is greater than a preset flatness threshold, obtaining a correction coefficient corresponding to the flatness information, the vertical storage distance, and the warehouse size; and correcting the integral value according to the correction coefficient to obtain a corresponding corrected value as the storage quantity information.

[0081] The flatness of the grain accumulation in the granary will have a certain impact on the final storage quantity. To eliminate this impact, the corresponding flatness information can be obtained from the distribution alignment information. Specifically, calculate the maximum distance between each effective density value of each detection radar in the distribution alignment information and the alignment point. There is only one maximum distance between the effective density value of the detection radar and the alignment point. Calculate the variance corresponding to the maximum distance of each detection radar as the corresponding flatness information.

[0082] If the flatness information is greater than the flatness threshold, obtain a correction coefficient corresponding to the flatness information, the vertical storage distance, and the warehouse size; if the flatness information is not greater than the flatness threshold, there is no need to calculate the correction coefficient and perform the correction. The correction coefficient can be calculated correspondingly by formula (6):

[0083]

[0084] Where y is the correction coefficient, v is the type correction parameter, and different type correction parameters are obtained for different grain types and different storage durations; F c For flatness information, F0 is the flatness threshold (the highest flatness allowed without correction), H c denoted as , where h is the vertical distance of the storage area and h is the internal height of the grain silo.

[0085] The integral value is corrected according to the correction rules and correction coefficients. Specifically, the correction coefficient can be multiplied by the integral value obtained in the above steps to obtain the corresponding correction value, which can be used as the corresponding warehouse quantity information.

[0086] The grain storage monitoring method based on radar detection disclosed in the above embodiments includes: obtaining echo signals by vertically probing the interior of the grain silo using a radar array; preprocessing the echo signals to obtain density distribution information; further analyzing and processing the signals to obtain spatial resolution information; aligning the density distribution information according to the spatial resolution information to obtain distribution alignment information; and calculating the storage capacity information based on the distribution alignment information, spatial resolution information, and a preset warehouse size. This grain storage monitoring method based on radar detection can calculate the grain storage capacity inside the grain silo based on the echo signals from the radar detection array. It is particularly suitable for monitoring large grain silos and can significantly improve the efficiency and accuracy of grain storage monitoring.

[0087] This invention also provides a grain storage monitoring device based on detection radar. This device can be configured in a monitoring terminal and is used to execute any embodiment of the aforementioned grain storage monitoring method based on detection radar. Specifically, please refer to... Figure 5 , Figure 5 This is a schematic block diagram of a grain storage monitoring device based on detection radar provided in an embodiment of the present invention.

[0088] like Figure 5 As shown, the grain storage monitoring device 100 based on detection radar includes an echo signal acquisition unit 110, a processing signal acquisition unit 120, a density distribution information acquisition unit 130, a spatial analysis information acquisition unit 140, a distribution alignment information acquisition unit 150, and a storage quantity information acquisition unit 160.

[0089] The echo signal acquisition unit 110 is used to acquire the echo signal obtained by the radar array during vertical detection. The echo signal is formed by the reflection of the grain after the detection signal is transmitted.

[0090] The signal acquisition unit 120 is used to preprocess the echo signal according to a preset signal processing rule to obtain a corresponding processed signal.

[0091] The density distribution information acquisition unit 130 is used to acquire the density distribution information corresponding to the processed signal according to a preset density calculation model.

[0092] The spatial resolution information acquisition unit 140 is used to perform spatial resolution on the processed signal according to the preset spatial resolution rules to obtain the corresponding spatial resolution information.

[0093] The distribution alignment information acquisition unit 150 is used to align the density distribution information according to the spatial resolution information to obtain the corresponding distribution alignment information.

[0094] The storage quantity information acquisition unit 160 is used to calculate the distribution alignment information and the preset warehouse size according to the preset storage calculation model to obtain the corresponding storage quantity information.

[0095] The grain storage monitoring device based on radar detection provided in this embodiment of the invention applies the aforementioned grain storage monitoring method based on radar detection. It obtains echo signals by vertically probing the interior of the grain silo using a radar array. The echo signals are preprocessed to acquire density distribution information. Further analysis and processing of the signals yields spatial resolution information. The density distribution information is aligned based on the spatial resolution information to obtain distribution alignment information. The storage capacity information is then calculated using the distribution alignment information, spatial resolution information, and a preset warehouse size. This radar-based grain storage monitoring method can calculate the grain storage capacity inside the grain silo based on the echo signals from the radar detection array. It is particularly suitable for monitoring large grain silos and can significantly improve the efficiency and accuracy of grain storage monitoring.

[0096] The aforementioned grain storage monitoring device based on detection radar can be implemented as a computer program, which can be used in, for example... Figure 6 It runs on the computer device shown.

[0097] Please see Figure 6 , Figure 6 This is a schematic block diagram of a computer device provided in an embodiment of the present invention. The computer device can be a terminal device used to execute a radar-based grain storage monitoring method to obtain the amount of grain stored inside a grain warehouse and to monitor grain storage.

[0098] See Figure 6 The computer device 500 includes a processor 502, a memory, and a communication interface 505 connected via a communication bus 501. The memory may include a storage medium 503 and internal memory 504.

[0099] The storage medium 503 may store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, it enables the processor 502 to execute a grain storage monitoring method based on detection radar. The storage medium 503 may be a volatile storage medium or a non-volatile storage medium.

[0100] The processor 502 provides computing and control capabilities to support the operation of the entire computer device 500.

[0101] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a grain storage monitoring method based on detection radar.

[0102] This communication interface 505 is used for network communication, such as providing data transmission. Those skilled in the art will understand that... Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device 500 to which the present invention is applied. The specific computer device 500 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0103] The processor 502 is used to run the computer program 5032 stored in the memory to implement the corresponding functions in the above-mentioned grain storage monitoring method based on detection radar.

[0104] Those skilled in the art will understand that Figure 6 The embodiments of the computer device shown do not constitute a limitation on the specific configuration of the computer device. In other embodiments, the computer device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. For example, in some embodiments, the computer device may include only memory and a processor. In such embodiments, the structure and function of the memory and processor are different from those shown. Figure 6 The embodiments shown are consistent and will not be described again here.

[0105] It should be understood that, in this embodiment of the invention, the processor 502 may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0106] In another embodiment of the invention, a computer-readable storage medium is provided. This computer-readable storage medium may be volatile or non-volatile. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps included in the aforementioned radar-based grain storage monitoring method.

[0107] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0108] In the embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Units with the same function may be grouped into one unit. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, or it may be an electrical, mechanical, or other form of connection.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0110] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0111] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks.

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for monitoring grain storage based on detection radar, characterized in that, The method is applied to a monitoring terminal, which establishes a communication connection with a radar array. The radar array consists of multiple detection radars arranged in an array. The method includes: The echo signal obtained by the radar array during vertical detection is acquired. The echo signal is formed by the reflection of the transmitted detection signal by the grain. The echo signal is preprocessed according to the preset signal processing rules to obtain the corresponding processed signal; The density distribution information corresponding to the processed signal is obtained according to the preset density calculation model; The processed signal is spatially analyzed according to a preset spatial analysis rule to obtain the corresponding spatial analysis information; The density distribution information is aligned based on the spatial resolution information to obtain the corresponding distribution alignment information; The distribution alignment information and the preset warehouse size are calculated based on the preset storage calculation model to obtain the corresponding storage volume information; The step of obtaining the density distribution information corresponding to the processed signal according to the preset density calculation model includes: Based on the signal propagation parameters in the density calculation model, the signals of each detection radar in the processed signal are analyzed to obtain the corresponding distance analysis information. This includes: acquiring the signal propagation parameters in the density calculation model corresponding to the current grain type and storage duration, wherein the signal propagation parameters include the propagation speed c of the current grain to electromagnetic wave signals. m The initial judgment time point h / c is calculated based on the internal air height h and the air propagation speed c of electromagnetic wave signals. The internal air height h is the vertical distance between the installation position of the detection radar and the bottom of the warehouse. The signal amplitudes of each detection radar signal after the initial judgment time point h / c are compared, and the time corresponding to the signal with the largest amplitude is taken as the cutoff time point of each detection radar signal to obtain the corresponding distance analysis information. Based on the density calculation function in the density calculation model and the range resolution information, the density distribution information of each detection radar signal is calculated to obtain the corresponding density distribution information, which includes the density value of each detection radar in the vertical direction; the density calculation function is... ;ρ x Let P be the density value at time x, a and b be the model parameters set in the formula, and P be the density value at time x. x To process the signal strength of a specific detection radar at time x, where k is the attenuation compensation coefficient; model parameters corresponding to different types and storage durations of grain are determined through experimental testing, and model parameters a and b matching the current grain type and storage duration are obtained; distance coefficient. ; tx is the time parameter at time x, and tj is the cutoff time point in the distance analysis information; obtain the density values ​​of each detection radar in the vertical direction and combine them to obtain the corresponding density distribution information; The step of calculating the corresponding storage capacity information based on the distribution alignment information and the preset warehouse dimensions according to the preset storage calculation model includes: The corresponding vertical distance of the warehouse is determined based on the distribution alignment information; The distribution alignment information is calculated in layers to obtain the corresponding vertical density curve; Based on the storage calculation model, the vertical distance of the storage, the vertical density curve, and the size of the storage are integrated to obtain the corresponding integral value, which is used as the storage volume information. Before performing integral calculations on the vertical distance of the warehouse, the vertical density curve, and the warehouse size according to the warehouse calculation model to obtain the corresponding integral value, the method further includes: Obtaining the corresponding flatness information based on the distribution alignment information includes: calculating the distance between each effective density value of each detection radar and the alignment point in the distribution alignment information, obtaining the maximum distance between the effective density value of the detection radar and the alignment point, and calculating the variance corresponding to the maximum distance of each detection radar as the corresponding flatness information. If the flatness information is greater than a preset flatness threshold, obtain a correction coefficient corresponding to the flatness information, the vertical distance of the warehouse, and the warehouse size; The integral value is corrected according to the correction coefficient to obtain the corresponding corrected value as the storage quantity information.

2. The grain storage monitoring method based on detection radar according to claim 1, characterized in that, The step of preprocessing the echo signal according to preset signal processing rules to obtain a corresponding processed signal includes: The echo signal is denoised according to the denoising function in the signal processing rule to obtain the corresponding denoised signal. The noise-reduced signal is enhanced according to the signal enhancement function in the signal processing rules to obtain the corresponding processed signal.

3. The grain storage monitoring method based on detection radar according to claim 1, characterized in that, The step of performing spatial analysis on the processed signal according to a preset spatial analysis rule to obtain corresponding spatial analysis information includes: The signals of each detection radar in the processed signal are analyzed according to the injection parameters and bottoming parameters in the spatial analysis rules to obtain the spatial start point and spatial end point corresponding to each detection radar. The spatial resolution information is obtained by combining the spatial start and end points of each of the aforementioned detection radars.

4. The grain storage monitoring method based on detection radar according to claim 1 or 3, characterized in that, The step of aligning the density distribution information according to the spatial resolution information to obtain corresponding distribution alignment information includes: Based on the spatial start point and spatial end point in the spatial analysis information, the density distribution values ​​of each detection radar in the density distribution information are truncated to obtain the effective density distribution corresponding to each detection radar. The effective density distribution is aligned with the spatial termination point of each of the detection radars to obtain the corresponding distribution alignment information.

5. A grain storage monitoring device based on detection radar, characterized in that, The device is configured on a monitoring terminal, which establishes a communication connection with a radar array. The radar array consists of multiple detection radars arranged in an array. The device is used to execute the grain storage monitoring method based on detection radar as described in any one of claims 1-4. The device includes: The echo signal acquisition unit is used to acquire the echo signal obtained by the radar array during vertical detection. The echo signal is a signal formed by the reflection of the grain after the detection signal is transmitted. The signal acquisition unit is used to preprocess the echo signal according to the preset signal processing rules to obtain the corresponding processed signal; A density distribution information acquisition unit is used to acquire density distribution information corresponding to the processed signal according to a preset density calculation model. The spatial resolution information acquisition unit is used to perform spatial resolution on the processed signal according to a preset spatial resolution rule to obtain the corresponding spatial resolution information. The distribution alignment information acquisition unit is used to align the density distribution information according to the spatial resolution information to obtain the corresponding distribution alignment information; The storage quantity information acquisition unit is used to calculate the distribution alignment information and the preset warehouse size according to the preset storage calculation model to obtain the corresponding storage quantity information.

6. A computer device, characterized in that, The device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When the processor executes the program stored in the memory, it implements the steps of the grain storage monitoring method based on detection radar as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the grain storage monitoring method based on detection radar as described in any one of claims 1-4.

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